// Copyright 2020 TierIV
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#pragma once
#include "rclcpp/rclcpp.hpp"
#include "autoware_perception_msgs/msg/dynamic_object_with_feature_array.hpp"

class Debugger
{
public:
  Debugger(rclcpp::Node * node);
  ~Debugger() {}
  void publishColoredPointCloud(
    const autoware_perception_msgs::msg::DynamicObjectWithFeatureArray & input);

private:
  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr instance_pointcloud_pub_;
};
